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package edu.wpi.first.wpilibj.team1662.commands;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 *
 * @author programmer
 */
public class Drive extends CommandBase {
    
    public Drive() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        requires(drivetrain);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
        drivetrain.tankDrive(0, 0);
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        drivetrain.tankDrive(-1*oi.getLeftStick(), -1*oi.getRightStick());
        SmartDashboard.putNumber("LeftStick value:", oi.getLeftStick());
        SmartDashboard.putNumber("RightStick value", oi.getRightStick());
        drivetrain.cheezit(oi.getConveyorThrottle());
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
        drivetrain.tankDrive(0, 0);
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
        drivetrain.tankDrive(0, 0);
    }
    
}